I actually studied Nihon Goshin Aikido for about 8 years as a kid (5-13) and then moved on and studied other styles for the next 20 years until now where I am back with Nihon Goshin Aikido for good.

The self defense line in this youtube video represents a great way to practice blending and technique in a fashion where you as nage doesnt know what attack is coming. So sometimes it may not look as pretty as a technique done in a classical manner it is more realistic.

I really like that type of training. That would be a really fun thing to do for the last segment of a class. Looks good to me all around.

What's the history of Nihon Goshin AIkido? You say this is not Ueshiba lineage stuff?